How a Surgical Robot Arm's Wrist Moves Instruments

This patent describes a specific design for the end part of a surgical robot arm, called the terminal portion, which uses a clever arrangement of three joints to precisely position and rotate surgical tools.

What it covers

The patent describes a specialized "terminal portion" for a surgical robot arm, which is like the robot's wrist. This portion has three main parts: a "distal segment" that holds the surgical tool, an "intermediate segment" in the middle, and a "basal segment" that connects to the rest of the arm (Claim 1). It uses three articulations, or joints, to move the tool. A "first articulation" lets the tool rotate around its own axis (the "first axis") relative to the intermediate segment. A "second articulation" lets the intermediate segment rotate relative to the basal segment around a "second axis." The "intermediate segment" itself contains a "third articulation" that allows the distal segment and the tool to rotate about "third and fourth axes" (Claim 1). The clever part is how these joints are arranged: in a straight position, the first and second axes line up, and the third and fourth axes cross each other and are perpendicular to the first axis (Claim 1). This allows the robot to precisely control the instrument's position and orientation. For example, a surgeon could use this arm to precisely rotate a scalpel while also angling it for a delicate cut, all through the coordinated movement of these three joints.

What it doesn't cover

• —Robot arms where the surgical instrument is not detachably attached to a single connector on the distal segment.
• —Surgical robot arms that do not have the specific arrangement of first, second, and third articulations as defined in Claim 1, especially regarding the collinearity and transverseness of the axes in a straight configuration.
• —Robot arms where the intermediate segment does not contain a third articulation that allows rotation about third and fourth axes.
• —Surgical robot arms where the connector for the instrument can articulate relative to the basal segment using more than just the first, second, and third articulations.
• —Robot arms where the first and second axes are not collinear in a straight configuration of the terminal portion.

The clever bit

The novelty lies in the specific kinematic arrangement of the three articulations within the terminal portion, particularly how the first, second, third, and fourth axes are configured to be collinear and transverse in a straight configuration. This allows for a compact and highly dexterous "wrist" mechanism for surgical instruments.

Why it matters

Precise control over surgical instruments is critical for minimally invasive surgery, where surgeons operate through small incisions. This patent aims to improve the dexterity and range of motion of robotic surgical arms, potentially allowing for more complex procedures to be performed robotically. Better articulation in the robot's "wrist" can reduce the need for larger incisions or more complex movements of the entire robot arm, leading to better patient outcomes.

Real-world examples

• 1.CMR Surgical Versius surgical robot system
• 2.Intuitive Surgical da Vinci surgical system
• 3.Medtronic Hugo RAS system
• 4.Minimally invasive surgical robots